网球自动捡球机设计

喜欢这套资料就充值下载吧。资源目录里展示的都可在线预览哦。下载后都有，请放心下载，文件全都包含在内，有疑问咨询QQ:414951605 或 1304139763 中国海洋大学本科毕业设计任务书设计题目网球自动捡球机设计院（系、中心）工程学院机电工程系专 业机械设计制造及其自动化年 级2011选题来源科研课题纵向课题（ ）选题类型理论研究（ ）横向课题（ ）教师自拟课题（）应用基础研究（）学生自拟课题（ ）技术或工程开发（）设计的基本构思和基本任务：网球运动正在全世界范围内得到越来越多的关注和喜爱，但是网球爱好者，特别是运动员在进行网球训练的时候，要频繁捡起散落在很大范围内的网球是一件耗时耗力的工作。具有高效、全自动捡球功能的机器可广泛应用于各种类型的网球练习场地，为人们进行网球训练提供便利和节省时间。本项设计主要目的是开发一种网球自动捡球机，解决同类产品中可能出现的卡球和伤球现象，并同时具有高效率和无遗漏的特点。基本任务： 查阅相关的文献资料，搜集、整理基础数据； 完成对捡球机机械系统运动方案设计； 完成总体结构设计，以及所有有零部件的选取； 完成装配图、主要零部件的CAD图纸绘制； 撰写毕业设计说明书。目前的基础（包括资料收集情况、前期工作情况等） 学习了机械设计、机械原理等相关专业课程，掌握机械的的组成，掌握一般机械的基本结构和设计方法。已收集整理了网球捡球机的相关文献，机械设计手册等参考资料。设计进度安排3.93.22：查阅相关资料，撰写文献综述，翻译外文资料，完成开题报告的拟写；3.234.5：完成捡球机机械系统运动方案设计； 4.64.19捡球机的总体结构设计和标准件选型；4.20-5.15完成捡球机装配图和主要零部件图的绘制；5.16至月底 撰写毕业论文。 论文起止时间：自 年 月 日起 年 月 日止学生（签名）：指导教师（签名）： 院（系、中心）负责人（签名）：注：表格不够可另附页中国海洋大学本科毕业设计开题报告题 目 网球自动捡球机设计院、 系 工程学院机电工程系 专 业 机械设计制造及其自动化 (年级)2011学生姓名 姜杰 学 号 080242011013 指导教师 谢迎春 教务处制表 2015 年 4 月 2 日一、选题依据课题来源、选题依据和背景情况；课题研究目的、学术价值或实际应用价值1、课题来源、选题依据和背景情况。本课题为教师自拟课题。根据国际机器人联合会 (International Federation of Rob otics, IFR)发布的2014年服务机器人研究报告，2013年个人和家用服务机器人销量大约为四百万台，比2012年增长28%，市场规模约为17亿美元。据估计，将有3100万台个人服务机器人于2014至2017年之间售出，这也就意味着服务机器人在这一领域将有持续而强劲的增长。可见机器人将越来越多的走进日常生活当中，而网球运动正在全世界范围内得到越来越多的关注和喜爱，但是网球爱好者，特别是运动员在进行网球训练的时候，要频繁捡起散落在很大范围内的网球是一件耗时耗力的工作，每个人都不可能像专业运动员一样拥有自己的球童，而具有高效、全自动捡球功能的机器可广泛应用于各种类型的网球练习场地，为人们进行网球训练提供便利和节省时间。因此网球训练迫切地需求自动捡球机器人来辅助。2、课题研究目的、实际应用价值据中国网球协会官方最新数据统计，到2008 年，凭借郑洁温网杀入四强和李娜的奥运会四强，国人网球热情空前高涨。中国网球人口已突破 800 万。而随着李娜法网捧杯，WTA官网甚至认为，李娜的大满贯冠军将为中国增加 3 亿网球人口。由此可分析，我国的网球运动必将蒸蒸日上，市场上对网球捡球机的需求也会直线增加。本课题的主要研究目的是本项设计主要目的是开发一种网球自动捡球机，解决同类产品中可能出现的卡球和伤球现象，并同时具有高效率和无遗漏的特点。二、文献综述国内外研究现状、发展动态；查阅的主要文献国内外研究现状、发展动态随着网球这种高强度远动的普及，越来越多的人参与其中，但对于普通运动者来说，不可能有球童负责为其捡球，遍布全场的网球拣起来实在是件累人、费时的事，针对这一现状，网球场捡球机器人应运而生1。目前网球捡球机构较少，较为经济的网球捡球机多以人工操作为主，又有圆筒式、滚筒网状式和篮筐式等用弹性条状材料制作，其间距略小于网球直径，用力压下或者滚过球身时将球压进筒或筐中。网球筐和网球筒是早期提出的方案，有的机构已经做出了产品。这类机构一般都十分简练实用，但效率一般较低，人工参与的比较多。市场上已经存在不同种类的网球捡球篮(如图1、图2所示)和捡球筒(如图3、图4所示)，都是通过人工操作实现的。但是这种捡球机构不能适应网球的直径变化；可能出现“卡球”现象；对网球的伤害较大，减少了网球的使用寿命；不能够捡拾网球场边缘的网球，而且对网球场地有一定的损伤。图2 网球筐2图1 网球筐1 图4 捡球筒2图3 捡球筒1网球捡球筒的结构更为简单， 主要由收集筒、手柄和进口阀弹簧组成。收集筒用于存储收集到的网球；手柄便于操作；而进口阀弹簧保证了网球的单向通过，使已经捡起的网球不会掉落。这种捡球机构简单方便，成本低，但存在不少缺点。与网球筐一样，对网球伤害较大；捡球时作用相对较少，需要人工寻找对准网球，实际上只是减少一个弯腰的动作；效率极低，一次只能捡一个球，存储球的数量也十分有限；随着捡球数量的增加，捡球难度也增大2。目前市场上还出现了一类手推式网球捡球车。此类捡球车为半自动式，需要有人操作。它体积大且重，相对于智能化捡球机比较笨拙，既浪费空间，又影响训练人员打球，还需要人工操作，相对于智能化捡球机浪费了不必要的时间与体力。而且，此类捡球车只适用于地上球较多的情况，它的适用环境较局限4。图5 自动网球捡球机图5是一种自动网球捡球机，该遥控自动网球拾球机主要组成包括车体、拾球滚筒、储球箱、驱动轮、万向轮、传动齿轮组、传感器、电路板、电池和拉杆式推把等部件。其工作原理为：采用后轮驱动，左、右驱动轮由两个电动机分别带动，前轮是万向轮， 起支撑的作用，共同实现拾球机前进、转弯及后退等动作。万向轮转动时通过传动齿轮组带动拾球滚筒5，传动齿轮组与万向轮之间是采用单向推力轴承联接， 保证了拾球滚筒在前进时转动而自动拾球, 而在后退时停转以防止滚 筒反转将网球带出箱外6。 拾到的网球暂时存放在储球箱中，储球箱设计为抽屉式结构，可随时安放和取出。拉杆式推把可根据拾球人员身高的变化而相应地调节长度，推把长度的范围在70120cm，该结构非常灵活。结构设计考虑到传感器的安装， 用于避障检测用的两对红外反射式传感器分别安装在前面左、右两端，三对红外对射式传感 器安装在储球箱的上部内侧。电路板和电池是拾球机的控制系统，控制着其他部件的动作4。目前较先进的拾球器是全自动拾球机，采用机械臂和图象识别等高科技，不需人工操作，可以完全自动拾球，但效率低，每次只能拾起一个球，且结构非常复杂， 成本相当高，不容易推广3。国外的自动捡球机构也较少,大部分常见的都是半自动人工参与的,如图6,7均为手动式捡球机7,8，这两款捡球机与上述国内捡球机比较类似，纯手动操控，机构简单，操作方便，价格低廉，但人性化不足。 图7 国外捡球机2图6 国外捡球机1 图9 国外捡球机4图8 国外捡球机3图8和图9为国外的半自动捡球机10,11，其结构复杂，造价成本高，体积较大，占空间，操作简单，捡球效率高，但不能自主完成捡球过程，需要人的辅助，综合来说需要改进的部分较多。除此之外，关于乒乓球捡球机的研究也比较多，由于乒乓球与网球结构上比较相似，同时为了拓展视野，我也对乒乓球捡球机进行了相关的调研。乒乓球的直径为40mm，质量为2.7g，具有体积小、质量轻的特点，特别适合吸力装置吸取。风扇在转动时，抽风的一端会形成负压;如果将一个管道与风扇的抽风面相连接，则在风扇的作用下，管道内的气压将小于管道外的大气压， 管道口附近的物体将在压力差的作用下被吸进管道里11。利用这个原理制作的捡乒乓球机如图10所示。图10 乒乓球捡球机器人1再有一种就是“收割式”捡球机，该方案捡球效果好且设计与制造方便，机械传动链少，造价低。其设计图如图11所示。其工作原理为：人手握可调节的推杆以正常行走速度向有散落乒乓球的区域走动，带动捡球机的驱动轮转动，驱动轮又带动叶轮转臂转动，通过叶轮齿片将乒乓球划入捡球机内，过挡球板，进入可方便拆卸的储球盒内，实现了散落满地乒乓球的捡拾工作12。图11 乒乓球捡球机2相对于体积小，质量轻的乒乓球，高尔夫球与网球更为接近，在此，我还查找了有关高尔夫球捡球机的相关资料。由于高尔夫球场面积广，对捡球机器人的需求并不高，因此只有较为简单的捡球装置，如图12所示13：图12 高尔夫捡球器网球捡球机的需求量很大，国内外相关设计也不少。本设计主要工作是通过对不同捡球机功能、特点、和相关参数进行分析后，得到设计捡球机的关键技术问题，从而对现有的设计方法加以改进，设计出一种更加高效、智能、防卡球现象的自动捡球机。参考文献1 席泽生. 网球场捡球机器人系统设计J.电气与自动化,2012,41(2):140-1412 韩良，王德彬，龚焕.智能网球车的研制J.机电技术，2011，2:49-543 吕腾飞，陆丽等.智能网球捡球机的研制J.电子世界4 卢飞跃，刘志锋.遥控自动网球拾球机的研制J.机电工程技术，2010,39(06):86-895 王侃，杨秀梅.网球训练场拾球机的设计A.第十二届全国机械设计协会，20066 胡利永，章磊，郑堤，等.落叶清扫机器人的研制J.机电工程，2009,26(10):96-987 Tennis Ball Pick-up and Storage DeviceP.US:US 20020151390A1,oct.17,20028 Ball-picking DeviceP.US:US006481768B1,Nov.19,20029 Tennis Ball Pick-up CartP.US:US 20140294547A1,Oct.2,201410 Tennis Ball Collection DeviceP.US:US008920101132,Dec.30,201411 许东伟，刘建群，林淦.乒乓球捡球机器人的设计与实现J.机床与液压，2014,42(3):16-1912 朱建，安必胜，朱向楠.乒乓球捡球机的创新设计与感悟J.工程技术与应用，2011,8(1):34-3613 Golf Ball Pick-up DeviceP.US:US007165796B1,Jan.23,2007三、研究内容1 学术构想与思路；主要研究内容及拟解决的关键问题（或技术）随着我国网球运动的不断普及，越来越多的人开始参与到其中，网球训练中网球的使用数量会很多，基本上会布满整个网球场，这时捡球便成为一件令人头疼的事，因此设计一款结构简单，价格实惠，能够快速捡起网球的网球机器人的需求也日益增长。本课题的主要研究内容：设计一款高效的网球自动捡球机，解决同类产品中可能出现的卡球和伤球现象，并具有高效率和无遗漏的特点。拟解决的关键问题有：（1） 捡球方式的选择；（2） 传动方式的选择；（3） 行走速度分析；（4） 球道数选择。2拟采取的研究方法、技术路线、实施方案及可行性分析研究方法：利用文献调研和市场调查对市场上已有产品进行分析，比选实现本课题目标的最佳技术途径和机械机构方案，以此为基础，完成零件和整机的图纸设计。技术路线：确立设计背景期刊检索市场调研专利检索修改完善初步设计原理设计强度校核结构草图装配图零件图设计说明书实施方案：（1） 查阅相关的文献资料，了解相关设计方案及原理；（2） 捡球机机械系统运动方案设计；（3） 捡球机零部件参数计算，以及选取；（4） 捡球机三维图及二维CAD图纸绘制；（5） 撰写毕业论文。可行性分析：目前关于网球捡球机的研究也很多，这些研究做出的捡球机均可以实现，并可以轻松完成捡球任务，因此只要参照现有的设计方案的原理以及结构形式，并加以计算、改进，一套可行的新的设计方案是完全可以实现的。四、论文（设计）进度安排起止时间主要内容预期目标3.93.223.234.54.64.194.20-5.155.16至月底查阅相关资料，撰写文献综述，翻译外文资料，完成开题报告的撰写完成捡球机机械系统运动方案设计捡球机的总体结构设计和标准件选型完成捡球机装配图和主要零部件图的绘制撰写毕业论文了解现有网球捡球机构造，和国内外发展现状完成初步方案设计完成结构草图设计完成装配图和零件图完成整个毕业设计五、审核意见导师意见 导师签字: 年 月 日审核小组意见审核小组成员签字： 年 月 日11承诺书经认真检查，本人的毕业设计（论文）撰写符合中国海洋大学机械设计制造及其自动化专业毕业设计（论文）撰写规范（试行）的要求。如有三处（含）以上不符合该规范，自愿放弃本次毕业答辩。承诺人： 年 月 日网球自动捡球机设计网球自动捡球机设计-毕业答辩导师：谢迎春答辩人：姜杰专业：机械设计制造及其自动化本科毕业设计毕业答辩目录目录设计参数方案设计1234本科毕业设计毕业答辩研究背景和内容5设计计算行走方案6总结本科毕业设计毕业答辩研究背景世界上第二大球类运动世界上第二大球类运动世界上第二大球类运动世界上第二大球类运动网球训练本科毕业设计毕业答辩研究内容 设计一款网球捡球机，解决同类产品的中可能出现的卡球和伤球现象，并具有高效率和无遗漏的特点。本科毕业设计毕业答辩设计参数本科毕业设计毕业答辩初始方案方案设计原理示意图三维建模可伸缩手推杆车身扇叶同步带存在主要问题1.转弯问题2.捡球数量问题3.不容易实现自动化本科毕业设计毕业答辩最终方案321451网球；2球道；3同步带带轮；4拨板；5同步带本科毕业设计毕业答辩三维建模捡球机构直流电机步进电机联轴器万向轮收集装置本科毕业设计毕业答辩1.球篮的设计设计依据：捡球数量100个设计计算本科毕业设计毕业答辩2.同步带的设计 结合网球的直径以及机械设计手册，选定的同步带及带轮的主要参数为1）选取带型H，带型节距12.7mm；2）带宽76.2mm；3）带轮齿数20，节径80.85mm；4）拨板的距离250mm；3.球道的设计本科毕业设计毕业答辩设计依据：场地网球的主要分布情况及网球的直径因此设定球道数为3，球道宽77mm本科毕业设计毕业答辩球道的三维模型本科毕业设计毕业答辩4.同步带驱动电机的选取负载主要包括：网球的重量；同步带的重量；同步带轮的质量 经计算负载的总质量为10.78kg，所需电机功率为26.41w，总扭矩为0.171Nm 最终选取的电机为东莞市威邦机电有限公司生产的直流电机，所选电机的型号为：4D40-24，其主要参数为选择减速比为50的齿轮箱本科毕业设计毕业答辩5.同步带轴的设计与校核确定最小直径具体计算过程见论文本科毕业设计毕业答辩弯矩、扭矩的主要计算值本科毕业设计毕业答辩载荷分析图按照弯扭合成应力计算得满足要求本科毕业设计毕业答辩6.驱动原动机的选择 经计算，车轮的转速为175r/min，摩擦转矩为2Nm，因此最终选取的驱动电机为常州康达通用电气有限公司生产的86精密行星减速步进电机，其主要参数为本科毕业设计毕业答辩主要标准件的选取1.轴承的选取深沟球轴承618012.联轴器的选取GY1凸缘联轴器3.主要固定采用螺栓，螺母本科毕业设计毕业答辩行走方案本科毕业设计毕业答辩总结1.捡球机机械系统运动方案设计2.捡球机零部件参数计算，以及选取3.捡球机三维图及二维CAD图纸绘制4.撰写毕业论文请各位老师批评指正！本科毕业设计毕业答辩谢谢！分类号密级 UDC 本 科 毕 业 设 计(附件) 网球自动捡球机设计 学生姓名 姜杰 学号 080242011013 指导教师 谢迎春 院、系、中心 工程学院机电工程系 专业年级 机械设计制造及其自动化2011级 论文答辩日期 2015 年 6 月 4 日 中 国 海 洋 大 学网球自动捡球机设计 完成日期： 指导教师签字： 答辩小组成员签字： 目 录 1、 任务书2、 开题报告3、 周次进度计划及实际进展情况表4、 指导教师工作记录5、 指导教师评分标准及评阅表6、 答辩记录及成绩评定表7、 英文材料8、 英文材料翻译 Procedia Engineering 41 ( 2012 ) 1072 1078 1877-7058 2012 Published by Elsevier Ltd.doi: 10.1016/j.proeng.2012.07.285 International Symposium on Robotics and Intelligent Sensors 2012 (IRIS 2012) Wireless Mobile Robotic Arm Mohd Ashiq Kamaril Yusoffa, Reza Ezuan Saminb*, Babul Salam Kader Ibrahimca,b,cFaculty of Electrical and Electronics Engineering, Universiti Tun Hussein Onn Malaysia, 86400 Batu Pahat, Johor, Malaysia Abstract In recent year, with the increase usage of wireless application, the demand for a system that could easily connect devices for transfer of data over a long distance - without cables, grew stronger. This paper presents the development of a wireless mobile robot arm. A mobile robot that functional to do pick and place operation and be controlled by using wireless PS2 controller. It can move forward, reverse, turn right and left for a specific distance according to the controller specification. The development of this robot is based on Arduino Mega platform that will be interfaced with the wireless controller to the mobile robotic arm. Analysis such as speed, distance, load that can be lifted of the robot has been done in order to know its performance. Finally, this prototype of the robot is expected to overcome the problem such as placing or picking object that far away from the user, pick and place hazardous object in the fastest and easiest way. 2012 The Authors. Published by Elsevier Ltd. Selection and/or peer-review under responsibility of the Centre of Humanoid Robots and Bio-Sensor (HuRoBs), Faculty of Mechanical Engineering, Universiti Teknologi MARA. Keywords: Robotic arm, mobile robot, wireless PS2 controller, Arduino Mega 2560. 1. Introduction Nowadays, robots are increasingly being integrated into working tasks to replace humans especially to perform the repetitive task. In general, robotics can be divided into two areas, industrial and service robotics. International Federation ofRobotics (IFR) defines a service robot as a robot which operates semi- or fully autonomously to perform services useful to the well-being of humans and equipment, excluding manufacturing operations. These mobile robots are currently used in many fields of applications including office, military tasks, hospital operations, dangerous environment and agriculture 1.Besides, it might be difficulties to the worker whose must pick and place something that can affect itself. For example, things like chemistry that cannot be picked by human and for the military such as defuse bomb that needed robot to pick and place the bomb to somewhere and for user that needed robot to do pick and place item while sitting and much more. Therefore a locomotion robot can be replaced human to do work. The robot is wireless controlled to ensure it can journey a long way from the user. For example, previous project robot Autonomous Robot Navigation using radio frequency that similar to this project 2. The robot was prepared mechanically to be suitable for this RF to work. Other than wireless controlled, Bluetooth is also a platform to control robot without using the cable 3. The movements of the robot are controlled remotely using Bluetooth connectivity. For this project, robot will be controlled in the all directions (forward, reverse, right and left). The actuator (arm robot) is controlled by generating pulse width modulation, PWM from the pin at Arduino Mega board. * Corresponding author. Tel.:+60167585859. E-mail address: rezauthm.edu.my Available online at Open access under CC BY-NC-ND license.Open access under CC BY-NC-ND license.1073 Mohd Ashiq Kamaril Yusoff et al. / Procedia Engineering 41 ( 2012 ) 1072 1078 2. Robotic arm definition A robotic arm is a robot manipulator, usually programmable, with similar functions to a human arm. The links of such a manipulator are connected by joints allowing either rotational motion (such as in an articulated robot) or translational (linear) displacement 4.The links of the manipulator can be considered to form a kinematic chain 5. The business end of the kinematic chain of the manipulator is called the end effectors and it is analogous to the human hand. The end effectors can be designed to perform any desired task such as welding, gripping, spinning etc., depending on the application. The robot arms can be autonomous or controlled manually and can be used to perform a variety of tasks with great accuracy. The robotic arm can be fixed or mobile (i.e. wheeled) and can be designed for industrial or home applications. The wireless mobile robots also have been developing in previous years 6.3. Methodology 3.1. Project overview In this project, the hardware and software function are combined to make the system reliable. The Arduino Mega will be the interfacing for the robot and controller PS2 wireless will control the movement of the robot. The project overview is shown in Fig 1. Fig. 1: Project overview of controlling robot arm. 3.2. System architecture Table 1 shows the project specification for this wireless mobile robotic arm. The main purpose of producing this specification is to clarify some important aspects of the project and to make sure that the project is feasible as well as appropriate to use in the market. Table 1: Specification of Wireless Mobile Robotic Arm.Module Specification Interface Arduino Mega Controller Sony PS2 wireless Programming language Arduino language Actuator Servo motor 3.3. Mechanical design Fig 2 illustrate the designing of the robot with (a) main structure arm robot (b) arm robot design and (c) mobile for carrying arm robot. Robot arm wills have 5 outputs which consist of the base, shoulder, elbow, wrist and gripper. 1074 Mohd Ashiq Kamaril Yusoff et al. / Procedia Engineering 41 ( 2012 ) 1072 1078 (a) (b) (c) Fig. 2: Robot design (a) main structure arm robot (b) robot arm design and (c) mobile for carrying arm robot. For arm robot, servo holder such as bracket and U joint is use to place the motor and it is made from aluminums because it is lightweight. The robot gripper is also made of aluminum because of the same reason as the main robot arm structure. The mobile robot, it has dimension (28 x 15.5 x 8.5) cm which is the length, width, and height respectively, as shown in Fig 2 (c). Acrylic is used as the main material for mobile robotic arm because it is easy to be formed, cheap, strong and can bear the motor weight and movement. There are 4 servo motor and servo wheel attached to this mobile. 3.4. Electrical design Fig 3 (a) shows the electrical designing using Proteus simulation for motor driver mobile robot and (b) by using PCB wizard software, each electrical component has been arraged specifically to create space for Arduino Mega. (a) (b) Fig. 3: Electrical design for (a) motor driver and (b) complete circuit for mobile robot arm. 3.5. Software development Software is a set of programs, procedures, algorithms and its documentation concerned with the operation of a data processing system. In this case, software is needed in order to complete task for the project. ?Arduino IDE: Arduino hardware is programmed using a Wiring-based language (syntax and libraries), similar to C+ with some slight simplifications and modifications, and a Processing-based integrated development environment. Arduino is programmed using Arduino IDE that has been develop using Java and based on Processing, avr-gcc, and other open source software. ?Proteus 7 Professional: This software been used in order to design the motor driver circuit for mobile robot arm only. It is because, to make the mobile goes forward, reverse, turn right and turn left it must needed an electronic component such as relay and transistor to function it. ?Google Sketch Up: To design the whole project that divided into two designing part. First is for the arm robot and other part is for the mobile robot. ?PCB Wizard: Software that will be used to create and design the arrangement of an electronic device into board. This project used single layer board due to less component used. 1075 Mohd Ashiq Kamaril Yusoff et al. / Procedia Engineering 41 ( 2012 ) 1072 1078 3.6. Arduino Mega 2560 Fig. 4: Arduino Mega 2560. The Arduino Mega 2560 as in Fig 4 is a microcontroller board based on the ATmega2560. It has 54 digital input and output pins of which 14 can be used as PWM outputs, 16 analog inputs, 4 UARTs (hardware serial ports), a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header, and a reset button. It contains everything needed to support the microcontroller; simply connect it to a computer with a USB cable or power it with an alternating current (AC) to direct current (DC) adapter or battery to get started. 3.7. Sony Play Station 2 (PS2) wireless controller Fig. 5: Sony PS2 wireless controller. For this project, PS2 wireless controllers as in Fig 5 are used to control the movement of servo including the gripper and mobile robot arm. In addition, wireless controller has an advantage compared to cable because it can communicate with the robot wirelessly. The controller used 2.4GHZ frequency and has a vibration feedback capability. It has transmitter (Tx) and receiver (Rx) to operate separately. The controller used 2xAAA battery size. 4. Result and discussion 4.1. Complete designing robot Fig. 6: Completed wireless mobile robotic arm. Fig 6 shows a completed mechanical structure of wireless mobile robotic arm. The dimension of the robot when not working is (29 X 19 X 25.5) cm and the weight of the robot is 1.55kg. 1076 Mohd Ashiq Kamaril Yusoff et al. / Procedia Engineering 41 ( 2012 ) 1072 1078 4.2. Mobile robotic arm analysis Fig 7 shows the wheel movement of the mobile robot. The robot can move forward, reverse, turn right and left. Light Emitting Diode (LED) will light up when button of controller is pressed. Fig. 7: Wheel movement of mobile robot. The incoming power supply is important for mobile robot because it will control the speed of servo motor. Therefore, Table 2 shows the analysis for velocity of the robot in difference supply for 1metre distance. Table 2: Time taken for difference power supply. No Power Supply (V)Time taken (s) Velocity (m/s) 19 4.83 0.20 28 5.83 0.17 37 23.8 0.04 46 Not finished - It show that, if power supply for mobile robot is decrease, it takes more time to reach 1metre distance. But when 6V power supply is used, there are no movement for mobile robot. So, it can be conclude that power supply for mobile robot (3600servo motor) is proportional to the speed of the robot. 4.3. Operational of robot arm The workplace for arm robot is illustrated in Fig 8. The arm robot workplace is in revolute manipulator. It consist of axis that represent the degree of freedom (DOF). For this project, the mobile robot has 4-DOF. (a) (b) Fig. 8: Robot arm workplace (a) side view (b) plane view. For the load that the robot arm can pick depends on the strength of servo motor. If the load exceeds the strength of the servo, it will cause the servo not working and can caused more usage of current in the servo motor. Table 3 shows the different load that can be lifted by the robot arm. Because this is a prototype project, the load that can be lifted by the robotarm is quite small. 1077 Mohd Ashiq Kamaril Yusoff et al. / Procedia Engineering 41 ( 2012 ) 1072 1078 Table 3: The different load that can be lifted by the robot arm. No Load (g) Function 150 Yes 2100 Yes 3150 Yes 4200 No 4.4. Wireless PS2 controller application Wireless mobile robotic arm should be able to move and can be controlled by using PS2 wireless controller. In this case, the prototype of robot should move simultaneously when controller button is pressed. There are 14 LED represent each button in controller and will lights up when controller button is pressed. Fig 9 (a) shows the navigation of controller based on programming code and (b) shows the LED represent on each button in the controller. (a) (b) Fig. 9: (a) Navigation and (b) LED represent on each button of the controller. The controller is using 2.4GHz wireless frequency and operating range (maximum) for wireless control is 8 meter, 45-degree angle. If the power of battery for the controller decrease, signal strength become weak. Therefore, there will be lost of connection between the transmitter (Tx) and the receiver (Rx). Table 4 shows the effective distance for this mobile robot. Table 4: The effective distance for wireless controller. Distance(m) Obstacle Rx Detect No Yes 8Yes No No Yes 7Yes No No Yes 6Yes No No Yes 5Yes Yes 4.5. Servo motor analysis A servo motor has three wire output. Two of them are for power and ground and another one is lead feeds a position control signal to the motor. The positional of the servo will be controlled by using PS2 wireless controller. Initial position for robot is 90 degree of each servo. Fig 10 shows the different positions angle when different pulse width is injected into the servo motor signal wire. (a) (b) (c) Fig. 10: (a) short pulse width (180 degree), (b) neutral position (90 degree) and (c) wider pulse width (0 degree). 1078 Mohd Ashiq Kamaril Yusoff et al. / Procedia Engineering 41 ( 2012 ) 1072 1078 4.6. Circuit analysis There will be 3 power supplies in the overall circuit for this project as shown in Table 5. Table 5: Specification for power supply in the circuit. Power Supply Battery Circuit Operation 19V (battery) Supply for Arduino Mega Arduino Mega On, receiver (Rx) operates and LED will lights up when controller (Tx) button is pressed. 29V (battery) Motor driver When controller button is pressed, Rx receive signal from Tx and send data to Arduino (interface). Then, data will be an output from Arduino and become input (5V) for motor driver to move the mobile robot as desired. 312V/1.2 Ah (Sealed Lead Acid battery) Servo motor (actuator) Robot arm will be in standby mode (90 degree). When controller (Tx) send signal (controller button is pressed) to Rx, the signal will be sent to actuator (servo motor) and drive the arm robot as desired. For the power supply 3, LM7806 will be used to regulate 12V to 6V because it was the maximum voltage for the servos. By using this sealed lead acid battery rechargeable with such a high current (1.2Ah) compared to lithium battery, servo motor (actuator) can move and lift the load. 5. Conclusion Overall, the objectives of this project have been achieved which are developing the hardware and software for wireless mobile robotic arm, implementing the pick and place system operation and also testing the robot that meets the criteria of purpose project. From the analysis that has been made, it is clearly shows that its movement is precise, accurate, and easy to control and user friendly. The mobile robot has been developed successfully as the movement of the robot including mobile and arm robot can be controlled wirelessly. This robot is expected to overcome the problem such as placing or picking object that away from the user, pick and place hazardous object in the fastest and easiest way. 6. Recommendation Generally the robot program runs smoothly as planned. For the future recommendation, this robot can be equipped with a camera to view and display at the monitor screen. Besides that, the prototype robots materials can also be upgraded so it can lift heaver load and do multifunction operation. Acknowledgements The authors would like to thank supervisor, Engr. Reza Ezuan Bin Samin and Dr. Babul Salam Bin KSM Kader Ibrahim that giving an encouragement and support to complete this project and also fellow friend that helps and gives idea to overcome problem that occur while doing this project. References 1R. C. Luo , K. L. Su,.A multi agent multi sensor based real-time sensory control system for intelligent security robot. IEEE International Conference on Robotics and Automation, vol. 2, 2003, pp.2394 .2399. 2Tan, Ming Chun (2005). Autonomous Robot Navigation using Radio Frequency. Bachelor Project. Thesis. Universiti Teknologi Malaysia, Skudai. 3Jennifer Bray, Charles F. Sturman (2002). “Bluetooth: connect withuot cables”, Upper Saddle river, New Jersey: Prentice-Hall PTR 4Robot entry, http:/ accessed on 7th April 2012 at 2.00p.m. 5D.L. Pieper. The kinematics of manipulators under computer control. PhD Thesis, Stanford University, Department of Mechanical Engineering, 1968. 6L.Feng, J.Borenstein, D. Wehe, A Completely Wireless Development System for Mobile Robots. ISRAM conferecence, Montpellier, France, May 27-30, 1996, pp.571-576